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<div class="title">sac_model.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Copyright (c) 2009, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
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<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
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<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#ifndef PCL_CUDA_SAMPLE_CONSENSUS_MODEL_H_</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#define PCL_CUDA_SAMPLE_CONSENSUS_MODEL_H_</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#include &lt;float.h&gt;</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;thrust/sequence.h&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;thrust/count.h&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;thrust/remove.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;pcl/cuda/point_cloud.h&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#include &lt;thrust/random/linear_congruential_engine.h&gt;</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160; </div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="preprocessor">#include &lt;pcl/pcl_exports.h&gt;</span></div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160; </div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;{</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;  <span class="keyword">namespace </span>cuda</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;  {</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;    <span class="comment">// Forward declaration</span></div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;    <span class="comment">//template&lt;class T&gt; class ProgressiveSampleConsensus;</span></div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160; </div>
<div class="line"><a name="l00058"></a><span class="lineno"><a class="line" href="structpcl_1_1cuda_1_1_delete_indices.html">   58</a></span>&#160;    <span class="keyword">struct </span><a class="code" href="structpcl_1_1cuda_1_1_delete_indices.html">DeleteIndices</a></div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;    {</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;      <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Tuple&gt; __inline__ __host__ __device__ <span class="keywordtype">int</span></div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;      operator () (<span class="keyword">const</span> Tuple &amp;t);</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;    };</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160; </div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;    <span class="keyword">struct </span><a class="code" href="structpcl_1_1cuda_1_1is_inlier.html">isInlier</a></div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    {</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;        __inline__ __host__ __device__ <span class="keywordtype">bool</span> </div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;        operator()(<span class="keywordtype">int</span> x) { <span class="keywordflow">return</span> (x != -1); }</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;    };</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160; </div>
<div class="line"><a name="l00071"></a><span class="lineno"><a class="line" href="structpcl_1_1cuda_1_1is_na_n_point.html">   71</a></span>&#160;    <span class="keyword">struct </span><a class="code" href="structpcl_1_1cuda_1_1is_na_n_point.html">isNaNPoint</a></div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;    {</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;        __inline__ __host__ __device__ <span class="keywordtype">bool</span> </div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;        operator ()(<a class="code" href="structpcl_1_1cuda_1_1_point_x_y_z_r_g_b.html">PointXYZRGB</a> pt) </div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;        { </div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;<span class="preprocessor">#ifdef __CUDACC__</span></div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;            <span class="keywordflow">return</span> (isnan (pt.x) | isnan (pt.y) | isnan (pt.z)) == 1; </div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;<span class="preprocessor">#else</span></div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;            <span class="keywordflow">return</span> (pcl_isnan (pt.x) | pcl_isnan (pt.y) | pcl_isnan (pt.z)) == 1;</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;        }</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;    };</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160; </div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;    <span class="keyword">template</span> &lt;<span class="keyword">template</span> &lt;<span class="keyword">typename</span>&gt; <span class="keyword">class </span>Storage&gt;</div>
<div class="line"><a name="l00088"></a><span class="lineno"><a class="line" href="classpcl_1_1cuda_1_1_sample_consensus_model.html">   88</a></span>&#160;    <span class="keyword">class </span><a class="code" href="classpcl_1_1cuda_1_1_sample_consensus_model.html">SampleConsensusModel</a></div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;    {</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;      <span class="keyword">public</span>:</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;        <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1cuda_1_1_point_cloud_a_o_s.html">PointCloudAOS&lt;Storage&gt;</a> <a class="code" href="classpcl_1_1cuda_1_1_point_cloud_a_o_s.html">PointCloud</a>;</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloud::Ptr PointCloudPtr;</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloud::ConstPtr PointCloudConstPtr;</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160; </div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt;SampleConsensusModel&gt; Ptr;</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt;const SampleConsensusModel&gt; ConstPtr;</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160; </div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">typename</span> Storage&lt;int&gt;::type Indices;</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt;typename Storage&lt;int&gt;::type&gt; IndicesPtr;</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt;const typename Storage&lt;int&gt;::type&gt; IndicesConstPtr;</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160; </div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">typename</span> Storage&lt;float&gt;::type Coefficients;</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr &lt;Coefficients&gt; CoefficientsPtr;</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr &lt;const Coefficients&gt; CoefficientsConstPtr;</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160; </div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">typename</span> Storage&lt;float4&gt;::type Hypotheses;</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;        <span class="comment">//TODO: should be vector&lt;int&gt; instead of int. but currently, only 1point plane model supports this</span></div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">typename</span> Storage&lt;int&gt;::type Samples;</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160; </div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;      <span class="keyword">private</span>:</div>
<div class="line"><a name="l00112"></a><span class="lineno"><a class="line" href="classpcl_1_1cuda_1_1_sample_consensus_model.html#a17337fe02319b7d8245ae028e00c8445">  112</a></span>&#160;        <a class="code" href="classpcl_1_1cuda_1_1_sample_consensus_model.html#a17337fe02319b7d8245ae028e00c8445">SampleConsensusModel</a> () : <a class="code" href="classpcl_1_1cuda_1_1_sample_consensus_model.html#a14d63c5d69208494012ce671b3aa2e44">radius_min_</a> (-FLT_MAX), radius_max_ (FLT_MAX) </div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;        {};</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160; </div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;      <span class="keyword">public</span>:</div>
<div class="line"><a name="l00119"></a><span class="lineno"><a class="line" href="classpcl_1_1cuda_1_1_sample_consensus_model.html#a9e6dac9e9fbac824a8e0157e9b0877a4">  119</a></span>&#160;        <a class="code" href="classpcl_1_1cuda_1_1_sample_consensus_model.html#a9e6dac9e9fbac824a8e0157e9b0877a4">SampleConsensusModel</a> (<span class="keyword">const</span> PointCloudConstPtr &amp;cloud) : </div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;          <a class="code" href="classpcl_1_1cuda_1_1_sample_consensus_model.html#a14d63c5d69208494012ce671b3aa2e44">radius_min_</a> (-FLT_MAX), radius_max_ (FLT_MAX)</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;        {</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;          <span class="comment">// Sets the input cloud and creates a vector of &quot;fake&quot; indices</span></div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;          <a class="code" href="classpcl_1_1cuda_1_1_sample_consensus_model.html#a309bf408a95da3f68bebb33b27952d82">setInputCloud</a> (cloud);</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;        }</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160; </div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;        <span class="comment">/* \brief Constructor for base SampleConsensusModel.</span></div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;<span class="comment">         * \param cloud the input point cloud dataset</span></div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;<span class="comment">         * \param indices a vector of point indices to be used from \a cloud</span></div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;<span class="comment">         */</span></div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;  <span class="comment">/*      SampleConsensusModel (const PointCloudConstPtr &amp;cloud, const std::vector&lt;int&gt; &amp;indices) :</span></div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;<span class="comment">                              input_ (cloud),</span></div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;<span class="comment">                              indices_ (boost::make_shared &lt;std::vector&lt;int&gt; &gt; (indices)),</span></div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;<span class="comment">                              radius_min_ (-DBL_MAX), radius_max_ (DBL_MAX) </span></div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;<span class="comment">      </span></div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;<span class="comment">        {</span></div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;<span class="comment">          if (indices_-&gt;size () &gt; input_-&gt;points.size ())</span></div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;<span class="comment">          {</span></div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;<span class="comment">            ROS_ERROR (&quot;[pcl::SampleConsensusModel] Invalid index vector given with size %lu while the input PointCloud has size %lu!&quot;, (unsigned long) indices_-&gt;size (), (unsigned long) input_-&gt;points.size ());</span></div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;<span class="comment">            indices_-&gt;clear ();</span></div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;<span class="comment">          }</span></div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;<span class="comment">        };*/</span></div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160; </div>
<div class="line"><a name="l00144"></a><span class="lineno"><a class="line" href="classpcl_1_1cuda_1_1_sample_consensus_model.html#aa18ea2b4acf26413d48e2ac0d5805d7b">  144</a></span>&#160;        <span class="keyword">virtual</span> <a class="code" href="classpcl_1_1cuda_1_1_sample_consensus_model.html#aa18ea2b4acf26413d48e2ac0d5805d7b">~SampleConsensusModel</a> () {};</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160; </div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;        <span class="keyword">virtual</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00152"></a><span class="lineno"><a class="line" href="classpcl_1_1cuda_1_1_sample_consensus_model.html#ac78f880fac41d28b97d434050d40fb9f">  152</a></span>&#160;        <a class="code" href="classpcl_1_1cuda_1_1_sample_consensus_model.html#ac78f880fac41d28b97d434050d40fb9f">getSamples</a> (<span class="keywordtype">int</span> &amp;iterations, Indices &amp;samples) = 0;</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160; </div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;        <span class="keyword">virtual</span> <span class="keywordtype">bool</span> </div>
<div class="line"><a name="l00162"></a><span class="lineno"><a class="line" href="classpcl_1_1cuda_1_1_sample_consensus_model.html#a168b090836ceb583363c779763473af0">  162</a></span>&#160;        <a class="code" href="classpcl_1_1cuda_1_1_sample_consensus_model.html#a168b090836ceb583363c779763473af0">computeModelCoefficients</a> (<span class="keyword">const</span> Indices &amp;samples, Coefficients &amp;model_coefficients) = 0;</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160; </div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;        <span class="keyword">virtual</span> <span class="keywordtype">bool</span> </div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;        generateModelHypotheses (Hypotheses &amp;h, <span class="keywordtype">int</span> max_iterations) = 0;</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160; </div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;        <span class="keyword">virtual</span> <span class="keywordtype">bool</span> </div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;        generateModelHypotheses (Hypotheses &amp;h, Samples &amp;s, <span class="keywordtype">int</span> max_iterations) = 0;</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160; </div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;        <span class="keyword">virtual</span> <span class="keywordtype">bool</span> </div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;        isSampleInlier (IndicesPtr &amp;inliers_stencil, Samples &amp;samples, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> &amp;i)</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;          {<span class="keywordflow">return</span> ((*inliers_stencil)[samples[i]] != -1);};</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160; </div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;        <span class="comment">/* \brief Recompute the model coefficients using the given inlier set</span></div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;<span class="comment">          * and return them to the user. Pure virtual.</span></div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;<span class="comment">          *</span></div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;<span class="comment">          * @note: these are the coefficients of the model after refinement</span></div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;<span class="comment">          * (e.g., after a least-squares optimization)</span></div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;<span class="comment">          *</span></div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;<span class="comment">          * \param inliers the data inliers supporting the model</span></div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;<span class="comment">          * \param model_coefficients the initial guess for the model coefficients</span></div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;<span class="comment">          * \param optimized_coefficients the resultant recomputed coefficients</span></div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;<span class="comment">          * after non-linear optimization</span></div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;<span class="comment">          */</span></div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;  <span class="comment">//      virtual void </span></div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;  <span class="comment">//      optimizeModelCoefficients (const std::vector&lt;int&gt; &amp;inliers, </span></div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;  <span class="comment">//                                 const Eigen::VectorXf &amp;model_coefficients,</span></div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;  <span class="comment">//                                 Eigen::VectorXf &amp;optimized_coefficients) = 0;</span></div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160; </div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;      <span class="comment">/*  \brief Compute all distances from the cloud data to a given model. Pure virtual.</span></div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;<span class="comment">        * \param model_coefficients the coefficients of a model that we need to</span></div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;<span class="comment">        *   compute distances to </span></div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;<span class="comment">        * \param distances the resultant estimated distances</span></div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;<span class="comment">        */</span></div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;  <span class="comment">//      virtual void </span></div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;  <span class="comment">//      getDistancesToModel (const Eigen::VectorXf &amp;model_coefficients, </span></div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;  <span class="comment">//                           std::vector&lt;float&gt; &amp;distances) = 0;</span></div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160; </div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;        <span class="keyword">virtual</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00210"></a><span class="lineno"><a class="line" href="classpcl_1_1cuda_1_1_sample_consensus_model.html#a0398f5ea7c4eb89201c8bc54a66485c6">  210</a></span>&#160;        <a class="code" href="classpcl_1_1cuda_1_1_sample_consensus_model.html#a0398f5ea7c4eb89201c8bc54a66485c6">selectWithinDistance</a> (<span class="keyword">const</span> Coefficients &amp;model_coefficients, </div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;                              <span class="keywordtype">float</span> threshold,</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;                              IndicesPtr &amp;inliers, IndicesPtr &amp;inliers_stencil) = 0;</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;        <span class="keyword">virtual</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;        <a class="code" href="classpcl_1_1cuda_1_1_sample_consensus_model.html#a0398f5ea7c4eb89201c8bc54a66485c6">selectWithinDistance</a> (<span class="keyword">const</span> Hypotheses &amp;h, <span class="keywordtype">int</span> idx,</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;                              <span class="keywordtype">float</span> threshold,</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;                              IndicesPtr &amp;inliers, IndicesPtr &amp;inliers_stencil) = 0;</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;        <span class="keyword">virtual</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;        <a class="code" href="classpcl_1_1cuda_1_1_sample_consensus_model.html#a0398f5ea7c4eb89201c8bc54a66485c6">selectWithinDistance</a> (Hypotheses &amp;h, <span class="keywordtype">int</span> idx,</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;                              <span class="keywordtype">float</span> threshold,</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;                              IndicesPtr &amp;inliers_stencil,</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;                              float3 &amp;centroid) = 0;</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160; </div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;        <span class="keyword">virtual</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;        countWithinDistance (<span class="keyword">const</span> Coefficients &amp;model_coefficients, <span class="keywordtype">float</span> threshold) = 0;</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160; </div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;        <span class="keyword">virtual</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;        countWithinDistance (<span class="keyword">const</span> Hypotheses &amp;h, <span class="keywordtype">int</span> idx, <span class="keywordtype">float</span> threshold) = 0;</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160; </div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;        <span class="keywordtype">int</span></div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;        deleteIndices (<span class="keyword">const</span> IndicesPtr &amp;indices_stencil );</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;        <span class="keywordtype">int</span></div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;        deleteIndices (<span class="keyword">const</span> Hypotheses &amp;h, <span class="keywordtype">int</span> idx, IndicesPtr &amp;inliers, <span class="keyword">const</span> IndicesPtr &amp;inliers_delete);</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160; </div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;        <span class="comment">/*  \brief Create a new point cloud with inliers projected onto the model. Pure virtual.</span></div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;<span class="comment">          * \param inliers the data inliers that we want to project on the model</span></div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;<span class="comment">          * \param model_coefficients the coefficients of a model</span></div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;<span class="comment">          * \param projected_points the resultant projected points</span></div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;<span class="comment">          * \param copy_data_fields set to true (default) if we want the \a</span></div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;<span class="comment">          * projected_points cloud to be an exact copy of the input dataset minus</span></div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;<span class="comment">          * the point projections on the plane model</span></div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;<span class="comment">          */</span></div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;  <span class="comment">//      virtual void </span></div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;  <span class="comment">//      projectPoints (const std::vector&lt;int&gt; &amp;inliers, </span></div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;  <span class="comment">//                     const Eigen::VectorXf &amp;model_coefficients,</span></div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;  <span class="comment">//                     PointCloud &amp;projected_points, </span></div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;  <span class="comment">//                     bool copy_data_fields = true) = 0;</span></div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160; </div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;        <span class="comment">/*  \brief Verify whether a subset of indices verifies a given set of</span></div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;<span class="comment">          * model coefficients. Pure virtual.</span></div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;<span class="comment">          *</span></div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;<span class="comment">          * \param indices the data indices that need to be tested against the model</span></div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;<span class="comment">          * \param model_coefficients the set of model coefficients</span></div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;<span class="comment">          * \param threshold a maximum admissible distance threshold for</span></div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;<span class="comment">          * determining the inliers from the outliers</span></div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;<span class="comment">          */</span></div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;  <span class="comment">//      virtual bool </span></div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;  <span class="comment">//      doSamplesVerifyModel (const std::set&lt;int&gt; &amp;indices, </span></div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;  <span class="comment">//                            const Eigen::VectorXf &amp;model_coefficients, </span></div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;  <span class="comment">//                            float threshold) = 0;</span></div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160; </div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;        <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00265"></a><span class="lineno"><a class="line" href="classpcl_1_1cuda_1_1_sample_consensus_model.html#a309bf408a95da3f68bebb33b27952d82">  265</a></span>&#160;        <a class="code" href="classpcl_1_1cuda_1_1_sample_consensus_model.html#a309bf408a95da3f68bebb33b27952d82">setInputCloud</a> (<span class="keyword">const</span> PointCloudConstPtr &amp;cloud);</div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160; </div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;        <span class="keyword">inline</span> PointCloudConstPtr </div>
<div class="line"><a name="l00269"></a><span class="lineno"><a class="line" href="classpcl_1_1cuda_1_1_sample_consensus_model.html#a81bc785d2337e42fb9da2ea0cc35bb35">  269</a></span>&#160;        <a class="code" href="classpcl_1_1cuda_1_1_sample_consensus_model.html#a81bc785d2337e42fb9da2ea0cc35bb35">getInputCloud</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1cuda_1_1_sample_consensus_model.html#afab2fc7dd1cb7f42b5c23fad098a1e32">input_</a>); }</div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160; </div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;        <span class="comment">/* \brief Provide a pointer to the vector of indices that represents the input data.</span></div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;<span class="comment">         * \param indices a pointer to the vector of indices that represents the input data.</span></div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;<span class="comment">         */</span></div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;  <span class="comment">//      inline void </span></div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;  <span class="comment">//      setIndices (const IndicesPtr &amp;indices) { indices_ = indices; }</span></div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160; </div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;        <span class="comment">/* \brief Provide the vector of indices that represents the input data.</span></div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;<span class="comment">         * \param indices the vector of indices that represents the input data.</span></div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;<span class="comment">         */</span></div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;  <span class="comment">//      inline void </span></div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;  <span class="comment">//      setIndices (std::vector&lt;int&gt; &amp;indices) </span></div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;  <span class="comment">//      { </span></div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;  <span class="comment">//        indices_ = boost::make_shared &lt;std::vector&lt;int&gt; &gt; (indices); </span></div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;  <span class="comment">//      }</span></div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160; </div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;        <span class="keyword">inline</span> IndicesPtr </div>
<div class="line"><a name="l00288"></a><span class="lineno"><a class="line" href="classpcl_1_1cuda_1_1_sample_consensus_model.html#a06fc71f53cddffa2d4a2cab530469ef6">  288</a></span>&#160;        <a class="code" href="classpcl_1_1cuda_1_1_sample_consensus_model.html#a06fc71f53cddffa2d4a2cab530469ef6">getIndices</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;<span class="keyword">        </span>{</div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;          <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1cuda_1_1_sample_consensus_model.html#aa8d5ec9413cb7007901d8f39ed4f1ba0">nr_indices_in_stencil_</a> != <a class="code" href="classpcl_1_1cuda_1_1_sample_consensus_model.html#a374f4fe9739fb61e2ad1d1c4ae62d628">indices_</a>-&gt;size())</div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;          {</div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;            <span class="keyword">typename</span> Indices::iterator last = thrust::remove_copy (<a class="code" href="classpcl_1_1cuda_1_1_sample_consensus_model.html#a1c381cf76f1955c8b2687b4fd56c2add">indices_stencil_</a>-&gt;begin (), <a class="code" href="classpcl_1_1cuda_1_1_sample_consensus_model.html#a1c381cf76f1955c8b2687b4fd56c2add">indices_stencil_</a>-&gt;end (), <a class="code" href="classpcl_1_1cuda_1_1_sample_consensus_model.html#a374f4fe9739fb61e2ad1d1c4ae62d628">indices_</a>-&gt;begin (), -1);</div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;            <a class="code" href="classpcl_1_1cuda_1_1_sample_consensus_model.html#a374f4fe9739fb61e2ad1d1c4ae62d628">indices_</a>-&gt;erase (last, <a class="code" href="classpcl_1_1cuda_1_1_sample_consensus_model.html#a374f4fe9739fb61e2ad1d1c4ae62d628">indices_</a>-&gt;end ());</div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;          }</div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160; </div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;          <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1cuda_1_1_sample_consensus_model.html#a374f4fe9739fb61e2ad1d1c4ae62d628">indices_</a>);</div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;        }</div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160; </div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;        <span class="comment">/* \brief Return an unique id for each type of model employed. */</span></div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;  <span class="comment">//      virtual SacModel </span></div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;  <span class="comment">//      getModelType () const = 0;</span></div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160; </div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;        <span class="comment">/* \brief Return the size of a sample from which a model is computed */</span></div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;  <span class="comment">//      inline unsigned int </span></div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;  <span class="comment">//      getSampleSize () const { return SAC_SAMPLE_SIZE.at (getModelType ()); }</span></div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160; </div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00314"></a><span class="lineno"><a class="line" href="classpcl_1_1cuda_1_1_sample_consensus_model.html#a5ac9119f5acff9ee8506df784a11f952">  314</a></span>&#160;        <a class="code" href="classpcl_1_1cuda_1_1_sample_consensus_model.html#a5ac9119f5acff9ee8506df784a11f952">setRadiusLimits</a> (<span class="keywordtype">float</span> min_radius, <span class="keywordtype">float</span> max_radius)</div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;        {</div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;          <a class="code" href="classpcl_1_1cuda_1_1_sample_consensus_model.html#a14d63c5d69208494012ce671b3aa2e44">radius_min_</a> = min_radius;</div>
<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;          radius_max_ = max_radius;</div>
<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;        }</div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160; </div>
<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00327"></a><span class="lineno"><a class="line" href="classpcl_1_1cuda_1_1_sample_consensus_model.html#aff18e1c5aa45698e331c454738185bd4">  327</a></span>&#160;        <a class="code" href="classpcl_1_1cuda_1_1_sample_consensus_model.html#aff18e1c5aa45698e331c454738185bd4">getRadiusLimits</a> (<span class="keywordtype">float</span> &amp;min_radius, <span class="keywordtype">float</span> &amp;max_radius)</div>
<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;        {</div>
<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;          min_radius = <a class="code" href="classpcl_1_1cuda_1_1_sample_consensus_model.html#a14d63c5d69208494012ce671b3aa2e44">radius_min_</a>;</div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;          max_radius = radius_max_;</div>
<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;        }</div>
<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160; </div>
<div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;  <span class="comment">//      friend class ProgressiveSampleConsensus&lt;PointT&gt;;</span></div>
<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160; </div>
<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;        <span class="keyword">inline</span> boost::shared_ptr&lt;typename Storage&lt;float4&gt;::type&gt;</div>
<div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;        getNormals () { <span class="keywordflow">return</span> (normals_); }</div>
<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160; </div>
<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;        <span class="keyword">inline</span></div>
<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;          <span class="keywordtype">void</span> setNormals (boost::shared_ptr&lt;<span class="keyword">typename</span> Storage&lt;float4&gt;::type&gt; normals) { normals_ = normals; }</div>
<div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160; </div>
<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160; </div>
<div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160;      <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;        <span class="comment">/*  \brief Check whether a model is valid given the user constraints.</span></div>
<div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;<span class="comment">          * \param model_coefficients the set of model coefficients</span></div>
<div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160;<span class="comment">          */</span></div>
<div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160;  <span class="comment">//      virtual inline bool</span></div>
<div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160;  <span class="comment">//      isModelValid (const Eigen::VectorXf &amp;model_coefficients) = 0;</span></div>
<div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160; </div>
<div class="line"><a name="l00350"></a><span class="lineno"><a class="line" href="classpcl_1_1cuda_1_1_sample_consensus_model.html#afab2fc7dd1cb7f42b5c23fad098a1e32">  350</a></span>&#160;        PointCloudConstPtr <a class="code" href="classpcl_1_1cuda_1_1_sample_consensus_model.html#afab2fc7dd1cb7f42b5c23fad098a1e32">input_</a>;</div>
<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;        boost::shared_ptr&lt;typename Storage&lt;float4&gt;::type&gt; normals_;</div>
<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160; </div>
<div class="line"><a name="l00354"></a><span class="lineno"><a class="line" href="classpcl_1_1cuda_1_1_sample_consensus_model.html#a374f4fe9739fb61e2ad1d1c4ae62d628">  354</a></span>&#160;        IndicesPtr <a class="code" href="classpcl_1_1cuda_1_1_sample_consensus_model.html#a374f4fe9739fb61e2ad1d1c4ae62d628">indices_</a>;</div>
<div class="line"><a name="l00356"></a><span class="lineno"><a class="line" href="classpcl_1_1cuda_1_1_sample_consensus_model.html#a1c381cf76f1955c8b2687b4fd56c2add">  356</a></span>&#160;        IndicesPtr <a class="code" href="classpcl_1_1cuda_1_1_sample_consensus_model.html#a1c381cf76f1955c8b2687b4fd56c2add">indices_stencil_</a>;</div>
<div class="line"><a name="l00358"></a><span class="lineno"><a class="line" href="classpcl_1_1cuda_1_1_sample_consensus_model.html#aa8d5ec9413cb7007901d8f39ed4f1ba0">  358</a></span>&#160;        <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1cuda_1_1_sample_consensus_model.html#aa8d5ec9413cb7007901d8f39ed4f1ba0">nr_indices_in_stencil_</a>;</div>
<div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160; </div>
<div class="line"><a name="l00363"></a><span class="lineno"><a class="line" href="classpcl_1_1cuda_1_1_sample_consensus_model.html#a14d63c5d69208494012ce671b3aa2e44">  363</a></span>&#160;        <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1cuda_1_1_sample_consensus_model.html#a14d63c5d69208494012ce671b3aa2e44">radius_min_</a>, radius_max_;</div>
<div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160; </div>
<div class="line"><a name="l00366"></a><span class="lineno"><a class="line" href="classpcl_1_1cuda_1_1_sample_consensus_model.html#aba9810edd9ff5dc59aa353f8e3a9e596">  366</a></span>&#160;        thrust::minstd_rand <a class="code" href="classpcl_1_1cuda_1_1_sample_consensus_model.html#aba9810edd9ff5dc59aa353f8e3a9e596">rngl_</a>;</div>
<div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160;    };</div>
<div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160; </div>
<div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160;    <span class="comment">/*  \brief @b SampleConsensusModelFromNormals represents the base model class</span></div>
<div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160;<span class="comment">      * for models that require the use of surface normals for estimation.</span></div>
<div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160;<span class="comment">      */</span></div>
<div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160;  <span class="comment">//  template &lt;typename PointT, typename PointNT&gt;</span></div>
<div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160;  <span class="comment">//  class SampleConsensusModelFromNormals</span></div>
<div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160;  <span class="comment">//  {</span></div>
<div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160;  <span class="comment">//    public:</span></div>
<div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160;  <span class="comment">//      typedef typename pcl::PointCloud&lt;PointNT&gt;::ConstPtr PointCloudNConstPtr;</span></div>
<div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160;  <span class="comment">//      typedef typename pcl::PointCloud&lt;PointNT&gt;::Ptr PointCloudNPtr;</span></div>
<div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160;  <span class="comment">//</span></div>
<div class="line"><a name="l00379"></a><span class="lineno">  379</span>&#160;  <span class="comment">//      typedef boost::shared_ptr&lt;SampleConsensusModelFromNormals&gt; Ptr;</span></div>
<div class="line"><a name="l00380"></a><span class="lineno">  380</span>&#160;  <span class="comment">//      typedef boost::shared_ptr&lt;const SampleConsensusModelFromNormals&gt; ConstPtr;</span></div>
<div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160;  <span class="comment">//</span></div>
<div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160;  <span class="comment">//      /* \brief Empty constructor for base SampleConsensusModelFromNormals. */</span></div>
<div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160;  <span class="comment">//      SampleConsensusModelFromNormals () : normal_distance_weight_ (0.0) {};</span></div>
<div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160;  <span class="comment">//</span></div>
<div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160;  <span class="comment">//      /*  \brief Set the normal angular distance weight.</span></div>
<div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160;  <span class="comment">//        * \param w the relative weight (between 0 and 1) to give to the angular</span></div>
<div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160;  <span class="comment">//        * distance (0 to pi/2) between point normals and the plane normal.</span></div>
<div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160;  <span class="comment">//        * (The Euclidean distance will have weight 1-w.)</span></div>
<div class="line"><a name="l00389"></a><span class="lineno">  389</span>&#160;  <span class="comment">//        */</span></div>
<div class="line"><a name="l00390"></a><span class="lineno">  390</span>&#160;  <span class="comment">//      inline void </span></div>
<div class="line"><a name="l00391"></a><span class="lineno">  391</span>&#160;  <span class="comment">//      setNormalDistanceWeight (float w) { normal_distance_weight_ = w; }</span></div>
<div class="line"><a name="l00392"></a><span class="lineno">  392</span>&#160;  <span class="comment">//</span></div>
<div class="line"><a name="l00393"></a><span class="lineno">  393</span>&#160;  <span class="comment">//      /* \brief Get the normal angular distance weight. */</span></div>
<div class="line"><a name="l00394"></a><span class="lineno">  394</span>&#160;  <span class="comment">//      inline float </span></div>
<div class="line"><a name="l00395"></a><span class="lineno">  395</span>&#160;  <span class="comment">//      getNormalDistanceWeight () { return (normal_distance_weight_); }</span></div>
<div class="line"><a name="l00396"></a><span class="lineno">  396</span>&#160;  <span class="comment">//</span></div>
<div class="line"><a name="l00397"></a><span class="lineno">  397</span>&#160;  <span class="comment">//      /* \brief Provide a pointer to the input dataset that contains the point</span></div>
<div class="line"><a name="l00398"></a><span class="lineno">  398</span>&#160;  <span class="comment">//        * normals of the XYZ dataset.</span></div>
<div class="line"><a name="l00399"></a><span class="lineno">  399</span>&#160;  <span class="comment">//        *</span></div>
<div class="line"><a name="l00400"></a><span class="lineno">  400</span>&#160;  <span class="comment">//        * \param normals the const boost shared pointer to a PointCloud message</span></div>
<div class="line"><a name="l00401"></a><span class="lineno">  401</span>&#160;  <span class="comment">//        */</span></div>
<div class="line"><a name="l00402"></a><span class="lineno">  402</span>&#160;  <span class="comment">//      inline void </span></div>
<div class="line"><a name="l00403"></a><span class="lineno">  403</span>&#160;  <span class="comment">//      setInputNormals (const PointCloudNConstPtr &amp;normals) { normals_ = normals; }</span></div>
<div class="line"><a name="l00404"></a><span class="lineno">  404</span>&#160;  <span class="comment">//</span></div>
<div class="line"><a name="l00405"></a><span class="lineno">  405</span>&#160;  <span class="comment">//      /* \brief Get a pointer to the normals of the input XYZ point cloud dataset. */</span></div>
<div class="line"><a name="l00406"></a><span class="lineno">  406</span>&#160;  <span class="comment">//      inline PointCloudNConstPtr </span></div>
<div class="line"><a name="l00407"></a><span class="lineno">  407</span>&#160;  <span class="comment">//      getInputNormals () { return (normals_); }</span></div>
<div class="line"><a name="l00408"></a><span class="lineno">  408</span>&#160;  <span class="comment">//</span></div>
<div class="line"><a name="l00409"></a><span class="lineno">  409</span>&#160;  <span class="comment">//    protected:</span></div>
<div class="line"><a name="l00410"></a><span class="lineno">  410</span>&#160;  <span class="comment">//      /* \brief The relative weight (between 0 and 1) to give to the angular</span></div>
<div class="line"><a name="l00411"></a><span class="lineno">  411</span>&#160;  <span class="comment">//        * distance (0 to pi/2) between point normals and the plane normal. </span></div>
<div class="line"><a name="l00412"></a><span class="lineno">  412</span>&#160;  <span class="comment">//        */</span></div>
<div class="line"><a name="l00413"></a><span class="lineno">  413</span>&#160;  <span class="comment">//      float normal_distance_weight_;</span></div>
<div class="line"><a name="l00414"></a><span class="lineno">  414</span>&#160;  <span class="comment">//</span></div>
<div class="line"><a name="l00415"></a><span class="lineno">  415</span>&#160;  <span class="comment">//      /* \brief A pointer to the input dataset that contains the point normals</span></div>
<div class="line"><a name="l00416"></a><span class="lineno">  416</span>&#160;  <span class="comment">//        * of the XYZ dataset. </span></div>
<div class="line"><a name="l00417"></a><span class="lineno">  417</span>&#160;  <span class="comment">//        */</span></div>
<div class="line"><a name="l00418"></a><span class="lineno">  418</span>&#160;  <span class="comment">//      PointCloudNConstPtr normals_;</span></div>
<div class="line"><a name="l00419"></a><span class="lineno">  419</span>&#160;  <span class="comment">//  };</span></div>
<div class="line"><a name="l00420"></a><span class="lineno">  420</span>&#160;  } <span class="comment">// namespace_</span></div>
<div class="line"><a name="l00421"></a><span class="lineno">  421</span>&#160;} <span class="comment">// namespace_</span></div>
<div class="line"><a name="l00422"></a><span class="lineno">  422</span>&#160; </div>
<div class="line"><a name="l00423"></a><span class="lineno">  423</span>&#160;<span class="preprocessor">#endif  </span><span class="comment">//#ifndef PCL_CUDA_SAMPLE_CONSENSUS_MODEL_H_</span></div>
<div class="ttc" id="aclasspcl_1_1cuda_1_1_point_cloud_a_o_s_html"><div class="ttname"><a href="classpcl_1_1cuda_1_1_point_cloud_a_o_s.html">pcl::cuda::PointCloudAOS</a></div><div class="ttdef"><b>Definition:</b> point_cloud.h:134</div></div>
<div class="ttc" id="aclasspcl_1_1cuda_1_1_sample_consensus_model_html"><div class="ttname"><a href="classpcl_1_1cuda_1_1_sample_consensus_model.html">pcl::cuda::SampleConsensusModel</a></div><div class="ttdoc">SampleConsensusModel represents the base model class. All sample consensus models must inherit from t...</div><div class="ttdef"><b>Definition:</b> sac_model.h:89</div></div>
<div class="ttc" id="aclasspcl_1_1cuda_1_1_sample_consensus_model_html_a0398f5ea7c4eb89201c8bc54a66485c6"><div class="ttname"><a href="classpcl_1_1cuda_1_1_sample_consensus_model.html#a0398f5ea7c4eb89201c8bc54a66485c6">pcl::cuda::SampleConsensusModel::selectWithinDistance</a></div><div class="ttdeci">virtual int selectWithinDistance(const Coefficients &amp;model_coefficients, float threshold, IndicesPtr &amp;inliers, IndicesPtr &amp;inliers_stencil)=0</div><div class="ttdoc">Select all the points which respect the given model coefficients as inliers. Pure virtual.</div></div>
<div class="ttc" id="aclasspcl_1_1cuda_1_1_sample_consensus_model_html_a06fc71f53cddffa2d4a2cab530469ef6"><div class="ttname"><a href="classpcl_1_1cuda_1_1_sample_consensus_model.html#a06fc71f53cddffa2d4a2cab530469ef6">pcl::cuda::SampleConsensusModel::getIndices</a></div><div class="ttdeci">IndicesPtr getIndices() const</div><div class="ttdoc">Get a pointer to the vector of indices used.</div><div class="ttdef"><b>Definition:</b> sac_model.h:288</div></div>
<div class="ttc" id="aclasspcl_1_1cuda_1_1_sample_consensus_model_html_a14d63c5d69208494012ce671b3aa2e44"><div class="ttname"><a href="classpcl_1_1cuda_1_1_sample_consensus_model.html#a14d63c5d69208494012ce671b3aa2e44">pcl::cuda::SampleConsensusModel::radius_min_</a></div><div class="ttdeci">float radius_min_</div><div class="ttdoc">The minimum and maximum radius limits for the model. Applicable to all models that estimate a radius.</div><div class="ttdef"><b>Definition:</b> sac_model.h:363</div></div>
<div class="ttc" id="aclasspcl_1_1cuda_1_1_sample_consensus_model_html_a168b090836ceb583363c779763473af0"><div class="ttname"><a href="classpcl_1_1cuda_1_1_sample_consensus_model.html#a168b090836ceb583363c779763473af0">pcl::cuda::SampleConsensusModel::computeModelCoefficients</a></div><div class="ttdeci">virtual bool computeModelCoefficients(const Indices &amp;samples, Coefficients &amp;model_coefficients)=0</div><div class="ttdoc">Check whether the given index samples can form a valid model, compute the model coefficients from the...</div></div>
<div class="ttc" id="aclasspcl_1_1cuda_1_1_sample_consensus_model_html_a17337fe02319b7d8245ae028e00c8445"><div class="ttname"><a href="classpcl_1_1cuda_1_1_sample_consensus_model.html#a17337fe02319b7d8245ae028e00c8445">pcl::cuda::SampleConsensusModel::SampleConsensusModel</a></div><div class="ttdeci">SampleConsensusModel()</div><div class="ttdoc">Empty constructor for base SampleConsensusModel.</div><div class="ttdef"><b>Definition:</b> sac_model.h:112</div></div>
<div class="ttc" id="aclasspcl_1_1cuda_1_1_sample_consensus_model_html_a1c381cf76f1955c8b2687b4fd56c2add"><div class="ttname"><a href="classpcl_1_1cuda_1_1_sample_consensus_model.html#a1c381cf76f1955c8b2687b4fd56c2add">pcl::cuda::SampleConsensusModel::indices_stencil_</a></div><div class="ttdeci">IndicesPtr indices_stencil_</div><div class="ttdoc">A pointer to the vector of point indices (stencil) to use.</div><div class="ttdef"><b>Definition:</b> sac_model.h:356</div></div>
<div class="ttc" id="aclasspcl_1_1cuda_1_1_sample_consensus_model_html_a309bf408a95da3f68bebb33b27952d82"><div class="ttname"><a href="classpcl_1_1cuda_1_1_sample_consensus_model.html#a309bf408a95da3f68bebb33b27952d82">pcl::cuda::SampleConsensusModel::setInputCloud</a></div><div class="ttdeci">virtual void setInputCloud(const PointCloudConstPtr &amp;cloud)</div><div class="ttdoc">Provide a pointer to the input dataset</div></div>
<div class="ttc" id="aclasspcl_1_1cuda_1_1_sample_consensus_model_html_a374f4fe9739fb61e2ad1d1c4ae62d628"><div class="ttname"><a href="classpcl_1_1cuda_1_1_sample_consensus_model.html#a374f4fe9739fb61e2ad1d1c4ae62d628">pcl::cuda::SampleConsensusModel::indices_</a></div><div class="ttdeci">IndicesPtr indices_</div><div class="ttdoc">A pointer to the vector of point indices to use.</div><div class="ttdef"><b>Definition:</b> sac_model.h:354</div></div>
<div class="ttc" id="aclasspcl_1_1cuda_1_1_sample_consensus_model_html_a5ac9119f5acff9ee8506df784a11f952"><div class="ttname"><a href="classpcl_1_1cuda_1_1_sample_consensus_model.html#a5ac9119f5acff9ee8506df784a11f952">pcl::cuda::SampleConsensusModel::setRadiusLimits</a></div><div class="ttdeci">void setRadiusLimits(float min_radius, float max_radius)</div><div class="ttdoc">Set the minimum and maximum allowable radius limits for the model (applicable to models that estimate...</div><div class="ttdef"><b>Definition:</b> sac_model.h:314</div></div>
<div class="ttc" id="aclasspcl_1_1cuda_1_1_sample_consensus_model_html_a81bc785d2337e42fb9da2ea0cc35bb35"><div class="ttname"><a href="classpcl_1_1cuda_1_1_sample_consensus_model.html#a81bc785d2337e42fb9da2ea0cc35bb35">pcl::cuda::SampleConsensusModel::getInputCloud</a></div><div class="ttdeci">PointCloudConstPtr getInputCloud() const</div><div class="ttdoc">Get a pointer to the input point cloud dataset.</div><div class="ttdef"><b>Definition:</b> sac_model.h:269</div></div>
<div class="ttc" id="aclasspcl_1_1cuda_1_1_sample_consensus_model_html_a9e6dac9e9fbac824a8e0157e9b0877a4"><div class="ttname"><a href="classpcl_1_1cuda_1_1_sample_consensus_model.html#a9e6dac9e9fbac824a8e0157e9b0877a4">pcl::cuda::SampleConsensusModel::SampleConsensusModel</a></div><div class="ttdeci">SampleConsensusModel(const PointCloudConstPtr &amp;cloud)</div><div class="ttdoc">Constructor for base SampleConsensusModel.</div><div class="ttdef"><b>Definition:</b> sac_model.h:119</div></div>
<div class="ttc" id="aclasspcl_1_1cuda_1_1_sample_consensus_model_html_aa18ea2b4acf26413d48e2ac0d5805d7b"><div class="ttname"><a href="classpcl_1_1cuda_1_1_sample_consensus_model.html#aa18ea2b4acf26413d48e2ac0d5805d7b">pcl::cuda::SampleConsensusModel::~SampleConsensusModel</a></div><div class="ttdeci">virtual ~SampleConsensusModel()</div><div class="ttdoc">Destructor for base SampleConsensusModel.</div><div class="ttdef"><b>Definition:</b> sac_model.h:144</div></div>
<div class="ttc" id="aclasspcl_1_1cuda_1_1_sample_consensus_model_html_aa8d5ec9413cb7007901d8f39ed4f1ba0"><div class="ttname"><a href="classpcl_1_1cuda_1_1_sample_consensus_model.html#aa8d5ec9413cb7007901d8f39ed4f1ba0">pcl::cuda::SampleConsensusModel::nr_indices_in_stencil_</a></div><div class="ttdeci">unsigned int nr_indices_in_stencil_</div><div class="ttdoc">number of indices left in indices_stencil_</div><div class="ttdef"><b>Definition:</b> sac_model.h:358</div></div>
<div class="ttc" id="aclasspcl_1_1cuda_1_1_sample_consensus_model_html_aba9810edd9ff5dc59aa353f8e3a9e596"><div class="ttname"><a href="classpcl_1_1cuda_1_1_sample_consensus_model.html#aba9810edd9ff5dc59aa353f8e3a9e596">pcl::cuda::SampleConsensusModel::rngl_</a></div><div class="ttdeci">thrust::minstd_rand rngl_</div><div class="ttdoc">Linear-Congruent random number generator engine.</div><div class="ttdef"><b>Definition:</b> sac_model.h:366</div></div>
<div class="ttc" id="aclasspcl_1_1cuda_1_1_sample_consensus_model_html_ac78f880fac41d28b97d434050d40fb9f"><div class="ttname"><a href="classpcl_1_1cuda_1_1_sample_consensus_model.html#ac78f880fac41d28b97d434050d40fb9f">pcl::cuda::SampleConsensusModel::getSamples</a></div><div class="ttdeci">virtual void getSamples(int &amp;iterations, Indices &amp;samples)=0</div><div class="ttdoc">Get a set of random data samples and return them as point indices. Pure virtual.</div></div>
<div class="ttc" id="aclasspcl_1_1cuda_1_1_sample_consensus_model_html_afab2fc7dd1cb7f42b5c23fad098a1e32"><div class="ttname"><a href="classpcl_1_1cuda_1_1_sample_consensus_model.html#afab2fc7dd1cb7f42b5c23fad098a1e32">pcl::cuda::SampleConsensusModel::input_</a></div><div class="ttdeci">PointCloudConstPtr input_</div><div class="ttdoc">A boost shared pointer to the point cloud data array.</div><div class="ttdef"><b>Definition:</b> sac_model.h:350</div></div>
<div class="ttc" id="aclasspcl_1_1cuda_1_1_sample_consensus_model_html_aff18e1c5aa45698e331c454738185bd4"><div class="ttname"><a href="classpcl_1_1cuda_1_1_sample_consensus_model.html#aff18e1c5aa45698e331c454738185bd4">pcl::cuda::SampleConsensusModel::getRadiusLimits</a></div><div class="ttdeci">void getRadiusLimits(float &amp;min_radius, float &amp;max_radius)</div><div class="ttdoc">Get the minimum and maximum allowable radius limits for the model as set by the user.</div><div class="ttdef"><b>Definition:</b> sac_model.h:327</div></div>
<div class="ttc" id="astructpcl_1_1cuda_1_1_delete_indices_html"><div class="ttname"><a href="structpcl_1_1cuda_1_1_delete_indices.html">pcl::cuda::DeleteIndices</a></div><div class="ttdoc">Check if a certain tuple is a point inlier.</div><div class="ttdef"><b>Definition:</b> sac_model.h:59</div></div>
<div class="ttc" id="astructpcl_1_1cuda_1_1_point_x_y_z_r_g_b_html"><div class="ttname"><a href="structpcl_1_1cuda_1_1_point_x_y_z_r_g_b.html">pcl::cuda::PointXYZRGB</a></div><div class="ttdoc">Default point xyz-rgb structure.</div><div class="ttdef"><b>Definition:</b> point_types.h:50</div></div>
<div class="ttc" id="astructpcl_1_1cuda_1_1is_inlier_html"><div class="ttname"><a href="structpcl_1_1cuda_1_1is_inlier.html">pcl::cuda::isInlier</a></div><div class="ttdoc">Check if a certain tuple is a point inlier.</div><div class="ttdef"><b>Definition:</b> predicate.h:61</div></div>
<div class="ttc" id="astructpcl_1_1cuda_1_1is_na_n_point_html"><div class="ttname"><a href="structpcl_1_1cuda_1_1is_na_n_point.html">pcl::cuda::isNaNPoint</a></div><div class="ttdef"><b>Definition:</b> sac_model.h:72</div></div>
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